JP3542099B2 - Tractor work controls - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides a load sensor for detecting a towing load of a ground work device connected to a self-propelled body so as to be able to move up and down, a load setting means for setting a control target load, and the load detected by the load sensor being the load. The present invention relates to a work control device for a tractor, provided with work depth control means for raising and lowering a work device so as to reach a set control target load set by a setting means.
[0002]
[Prior art]
The work control device of the tractor, such as when tilling work by connecting the plow device, set the desired work depth as a towing load by the load setting means, even if the tractor may be tilted back and forth, By operating the working device up and down by the working depth control means, it is possible to work while maintaining the working depth at a desired depth.
In this type of tractor, when the vehicle speed changes, the towing load on the tractor changes because the speed at which the work equipment is towed changes, even if the connection height of the work equipment to the tractor is constant and the work depth is the same. I do. Even in this case, conventionally, the lifting / lowering control of the working device has been performed based on the actual towing load applied to the tractor and the set control target load set by the load setting means.
[0003]
[Problems to be solved by the invention]
Conventionally, when the vehicle speed is changed, such as when the steering wheel is hard to be taken and the accelerator is raised even when traveling at a high speed, or when the vehicle is easily slipped and the accelerator is lowered, the working depth sometimes changes to a desired depth. That is, when the vehicle speed is changed to the ascending side, since the towing load applied to the tractor increases, the ascent control of the working device is executed, and the working depth may be smaller than the desired depth, and the vehicle speed is changed to the descending side. In such a case, since the towing load applied to the tractor is reduced, the lowering control of the working device is performed, and the working depth may be deeper than the desired depth.
An object of the present invention is to provide a tractor operation control device that can operate while maintaining the operation depth at a desired depth as much as possible even when the vehicle speed is changed.
[0004]
[Means for Solving the Problems]
The structure and operation of the invention according to claim 1 are as follows.
[0005]
〔Constitution〕
A load sensor for detecting a towing load of the work equipment for ground work coupled to the self-propelled body so as to be able to move up and down, a load setting means for setting a control target load, and a load detected by the load sensor set by the load setting means. Working depth control means for raising and lowering the working device so as to reach the set control target load in the tractor work control device,
A vehicle speed sensor for detecting a vehicle speed, and a target load adjusting device that operates based on information from the vehicle speed sensor. When the vehicle speed detected by the vehicle speed sensor is higher than the set vehicle speed, the target load adjusting device sets the target load by the load setting device. The control target load is adjusted to the increasing side, and the adjusted control target load is output to the work depth control means as the control target load set by the load setting means.
[0006]
[Action]
When the work is performed by the work device, a minimum speed among the traveling speeds that must be provided to the tractor so that the work can be performed is set as the set vehicle speed. Then, when the vehicle speed is changed to a speed higher than the set speed by changing the vehicle speed by an accelerator operation or the like, the load detected by the load sensor is increased from the load detected when the vehicle is running at the set speed. At this time, the target load adjusting means adjusts the set control target load set by the load setting means to the increasing side, and outputs the adjusted control target load to the work depth control means. The working device is moved up and down so that the increase detection load due to the load setting means becomes the adjustment control target load. With this, when the set load is appropriately adjusted by the target load adjusting means according to the change in the vehicle speed, even if the vehicle speed is changed and the load detected by the load sensor changes, the lifting / lowering operation of the working device is not executed. Or the lifting stroke is small so that the working depth does not change significantly even if executed.
[0007]
The structure and operation of the invention according to claim 2 are as follows.
[0008]
〔Constitution〕
A load sensor for detecting a towing load of the work equipment for ground work coupled to the self-propelled body so as to be able to move up and down, a load setting means for setting a control target load, and a load detected by the load sensor set by the load setting means. Working depth control means for raising and lowering the working device so as to reach the set control target load in the tractor work control device,
A vehicle speed sensor for detecting a vehicle speed; and a detection load adjusting unit that operates based on information from the vehicle speed sensor. When the vehicle speed detected by the vehicle speed sensor is faster than a set vehicle speed, the detection load adjusting unit detects the load detected by the load sensor. Is adjusted to the decreasing side, and the adjustment detection load is outputted to the work depth control means as a detection load by the load sensor.
[0009]
[Action]
When the work is performed by the work device, a minimum speed among the traveling speeds that must be provided to the tractor so that the work can be performed is set as the set vehicle speed. Then, when the vehicle speed is changed to a speed higher than the set speed by changing the vehicle speed by an accelerator operation or the like, the load detected by the load sensor is increased from the load detected when the vehicle is running at the set speed. At this time, the detected load adjusting means adjusts the load detected by the load sensor to the decreasing side, and outputs the adjusted detected load to the work depth control means. The working device is moved up and down to achieve the target load. Accordingly, when the detection load is appropriately adjusted by the detection load adjustment unit in accordance with the vehicle speed change, even if the vehicle speed is changed and the detection load by the load sensor changes, the lifting / lowering operation of the working device is not executed. In other words, the elevating stroke is small so that the working depth does not change significantly even if it is executed.
[0010]
The effects of the invention according to claims 1 and 2 are as follows.
[0011]
〔effect〕
Even if the vehicle speed is changed to a higher speed side or a lower speed side than the minimum working speed, and the load detected by the load sensor is different from that at the minimum working speed, the setting control target associated with this It is possible to work while the work depth does not change by making appropriate adjustment of the load or the detected load, or it is possible to work while keeping the work depth unchanged, and the work depth is set to the set depth as much as possible regardless of the pitching of the vehicle body Highly efficient work can be performed at high speed as much as possible.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
As shown in FIG. 1, a pair of left and right drive and swing steerable front wheels 1 and 1 and a pair of left and right drivable rear wheels 2 and 2 run by themselves to steer the front wheel 1. A pair of left and right lift arms 5 and 5 are provided at the rear of the body having a driving unit having a steering handle 3, a driver's seat 4 and the like so as to be able to swing up and down by a hydraulic lift cylinder 6 and are connected. A tractor is provided with a power take-out shaft 7 for transmitting rotational power to the device. At the rear of the tractor, a plow device 8 for tilling work with a plurality of plows 8a is connected via a link mechanism 9, and a pair of lift arms 5, 5 are connected to one lift arm 5 by a lift rod 10. The link mechanism 9 is configured to swing up and down with respect to the self-propelled body via the plow device rolling operation cylinder 11 connected to the other lift arm 5 to move the plow device 8 up and down. A riding type tilling device is configured such that the tractor performs the plowing operation by running while towing the plow device 8 and the lift cylinder 6 is operated to lift and lower the plow device 8 with respect to the tractor. It is.
[0013]
A load sensor 13 for detecting the traction load of the plow device 8 and a vehicle speed sensor 14 for detecting the vehicle speed of the tractor are provided inside a traveling and work mission case 12 forming a rear portion of the self-propelled body. A load setting means 15 is provided on the operation panel located for setting the plowing depth. As shown in FIG. 2, a control device 16 associated with the sensors 13 and 14 and the load setting means 15 is mounted on the tractor and the lift cylinder 6 is mounted on the tractor. The work control device is constituted by linking to the control valve mechanism 17 of FIG. This work control device sets the desired tillage depth by the load setting means 15 and sets the tillage depth by the plow device 8 to the desired depth even if the tractor is tilted back and forth or the traveling speed of the tractor is changed. It is possible to work while maintaining the same, and is configured in detail as follows.
[0014]
The load sensor 13 rotatably supports the front end sides of a pair of left and right lower links 9a, 9a constituting the link mechanism 9, and penetrates the transmission case 12 in the lateral direction of the machine body. The link 9a, 9a is constituted by a strain sensor acting on a link support shaft 18 which is connected to be able to swing up and down. That is, when the traction load of the plow device 8 acts, the link support shaft 18 is bent. The displacement of the link support shaft 18 due to the deflection is detected by a change in output voltage generated in the strain sensor due to the displacement. That is, the load sensor 13 detects a displacement due to the deflection of the link support shaft 18 as a traction load, and outputs the detected load to the control device 16 as an electric signal.
[0015]
The vehicle speed sensor 14 is a rotation sensor that acts on an output shaft provided to transmit a rotation output to a rear wheel differential mechanism, provided by a traveling transmission provided inside the transmission case 12, The running speed of the tractor is detected based on the rotational speed, and the detected vehicle speed V is output to the control device 16 as an electric signal.
[0016]
The load setting means 15 is constituted by a variable resistor whose electric resistance changes by rotating the dial 15a. That is, the desired tillage depth is set by rotating the dial 15a. Then, the load setting means 15 sets a traction load corresponding to the desired tillage depth as a control target load, and outputs the set control target load to the control device 16 as an electric signal.
[0017]
The control valve mechanism 17 includes an up electromagnetic proportional flow control valve for controlling the lift cylinder 6 on the ascending side of the plow device 8 and a down electromagnetic proportional flow control valve for controlling the descending side of the plow device 8. The lift proportional cylinder 6 is controlled by operating the proportional flow control valve based on an electric signal as a command from the controller.
[0018]
The control device 16 is composed of a microcomputer, and is configured to operate based on information from the sensors 13, 14 and the load setting means 15 and a control flow shown in FIG.
That is, as shown in steps # 1 to # 3, the detected vehicle speed V detected by the vehicle speed sensor 14 is the lowest speed among the traveling speeds that must be provided to the tractor so that the plow device 8 can perform the tilling. It is determined whether or not the detected vehicle speed V is higher than the set vehicle speed VA, and if the detected vehicle speed V is higher than the set vehicle speed VA, the set control target load FA set by the load setting means 15 is detected. The load is adjusted to increase by an amount corresponding to the difference between V and the set vehicle speed VA, and the adjustment set control target load FA and the detected load F detected by the load sensor 13 are compared. If it is determined in step # 1 that the detected vehicle speed V is not higher than the set vehicle speed VA, the set control target load FA set by the load setting means is adopted without being changed, and the set control target load FA and the load sensor are used. 13 is compared with the detected load F detected. If it is determined in step # 3 that the load F detected by the load sensor 13 is equal to the set control target load FA, a signal for stopping the lift cylinder 6 is output to the control mechanism 17 as shown in step # 4. This causes the lift cylinder 6 to operate in the stopped state. If it is determined in step # 3 that the load F detected by the load sensor 13 is larger than the set control target load FA, as shown in step # 5, the control mechanism 17 should control the lift cylinder 6 to move up. By outputting the signal, the lift cylinder 6 is operated on the ascending side of the plow device 8 until the load F detected by the load sensor 13 becomes equal to the set control target load FA. If it is determined in step # 3 that the load F detected by the load sensor 13 is smaller than the set control target load FA, the control mechanism 17 should control the lift cylinder 6 to descend as shown in step # 6. By outputting the signal, the lift cylinder 6 is operated on the lower side of the plow device 8 until the load F detected by the load sensor 13 becomes equal to the set control target load FA.
[0019]
That is, steps # 1 and # 2 constitute a target load adjusting means 18 which automatically operates based on information from the vehicle speed sensor 14, and steps # 3 to # 6 constitute a work depth control means 19. The target load adjusting means 18 adjusts the set control target load set by the load setting means 15 based on the vehicle speed V detected by the vehicle speed sensor 14 as follows, and adjusts the adjusted control target load by the set control target by the load setting means 15. The load FA is output to the work depth control means 19. That is, when the vehicle speed V detected by the vehicle speed sensor 14 is equal to or lower than the set vehicle speed VA set in advance as the minimum speed among the tractor traveling speeds necessary for performing the plowing operation by the plow device 8, the load setting is performed. The set control target load set by the means 15 is not changed to the increasing side or the decreasing side, and the unadjusted set control target load is used as the set control target load FA by the load setting means 15 and is transmitted to the work depth control means 19. Output. When the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed FA, the set control target load set by the load setting means 15 corresponds to the difference between the vehicle speed V detected by the vehicle speed sensor 14 and the set vehicle speed VA. The load is increased and changed and adjusted, and the adjusted target load is output to the work depth control unit 19 as the set control target load FA by the load setting unit 15. That is, when the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed VA, the detected load detected by the load sensor 13 is higher than when the detected vehicle speed V is the set vehicle speed VA. The set control target load set by the load setting means 15 is changed by the load sensor 13 to increase the vehicle speed so as to prevent the execution of the lift control of the plow device 8 caused by the increase in the detected load. Change and adjust to the increase side by the amount corresponding to the increase. Then, the work depth control means 19 adopts the control target load FA output from the target load adjusting means 18 as the set control target load FA by the load setting means 15, and uses the set control target load FA and the load sensor 13. The plow device 8 is moved up and down so that the detected load F becomes equal.
[0020]
FIG. 4 shows a working control device according to another embodiment. This work control device also sets the desired tillage depth by the load setting means 15 and adjusts the tillage depth by the plow device 8 to the desired depth even if the tractor is tilted back and forth or the traveling speed of the tractor is changed. It is possible to work while maintaining the same, and is configured in detail as follows.
[0021]
Each of the load sensor 13, the vehicle speed sensor 14, the load setting means 15, and the control valve mechanism 17 has the same configuration as that shown in FIGS.
[0022]
The control device 16 is composed of a microcomputer, and is configured to operate based on information from the sensors 13 and 14 and the load setting means 15 and a control flow shown in FIG.
That is, as shown in steps # 1 to # 3, the detected vehicle speed V detected by the vehicle speed sensor 14 is the lowest speed among the traveling speeds that must be provided to the tractor so that the plow device 8 can perform the tilling. It is determined whether or not the detected vehicle speed V is higher than the set vehicle speed VA. If the detected vehicle speed V is higher than the set vehicle speed VA, the detected load detected by the load sensor 13 is set as the detected vehicle speed V. The adjustment is changed to the decreasing side by an amount corresponding to the difference with the vehicle speed VA, and the adjustment detection load FB is compared with the set control target load FA set by the load setting means 15. If it is determined in step # 1 that the detected vehicle speed V is not higher than the set vehicle speed VA, the detected load detected by the load sensor 13 is adopted without being changed, and the detected load FB and the load setting means 15 are used. The set control target load FA is compared with the set control target load FA. If it is determined in step # 3 that the detected load FB is equal to the set control target load FA, as shown in step # 4, a signal for stopping the lift cylinder 6 is output to the control mechanism 17 to thereby increase the lift cylinder. 6 is stopped. If it is determined in step # 3 that the detected load FB is larger than the set control target load FA, as shown in step # 5, the control mechanism 17 outputs a signal for controlling the lift cylinder 6 to the ascending side. As a result, the lift cylinder 6 is operated on the ascending side of the plow device 8 until the detected load FB becomes equal to the set control target load FA. If it is determined in step # 3 that the detected load FB is smaller than the set control target load FA, as shown in step # 6, a signal is output to the control mechanism 17 to control the lift cylinder 6 to descend. Thus, the lift cylinder 6 is operated on the lower side of the plow device 8 until the detected load FB becomes equal to the set control target load FA.
[0023]
That is, the steps # 1 and # 2 constitute the detection load adjusting means 20 which automatically operates based on the information from the vehicle speed sensor 14, and the steps # 3 to # 6 constitute the work depth control means 19. The detected load adjusting means 20 adjusts the detected load detected by the load sensor 13 on the basis of the vehicle speed V detected by the vehicle speed sensor 14 as follows, and uses the adjusted detected load as the detected load FB detected by the load sensor 13 to control the working depth. Output to means 19. That is, when the vehicle speed V detected by the vehicle speed sensor 14 is equal to or lower than the set vehicle speed VA which is set in advance as the minimum speed among the tractor traveling speeds necessary for performing the tilling work by the plow device 8, the load sensor The detected load detected by the load sensor 13 is not changed to the increase side or the decrease side, and the unadjusted detected load is output to the work depth control means 19 as the detected load FB by the load sensor 13. When the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed FA, the detected load detected by the load sensor 13 is reduced by an amount corresponding to the difference between the vehicle speed V detected by the vehicle speed sensor 14 and the set vehicle speed VA. The adjustment detection load is output to the work depth control means 19 as the detection load FB detected by the load sensor 13. That is, when the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed VA, the detected load detected by the load sensor 13 is higher than when the detected vehicle speed V is the set vehicle speed VA. Then, the detection load detected by the load sensor 13 is changed and reduced by the amount increased by the increase in the vehicle speed so as to prevent the lifting control of the plow device 8 from being executed due to the increase in the detection load. Then, the work depth control means 19 adopts the detected load FB output from the detected load adjusting means 20 as the detected load FB by the load sensor 13, and this detected load FB becomes the set control target load FA by the load setting means 15. The plow device 8 is moved up and down so as to achieve the desired condition.
[0024]
The lower limit setting sensor 21 shown in FIGS. 2 and 4 is constituted by a rotary potentiometer interlocked with the lift arm 5 so as to detect an angle at which the lift arm 5 is attached to the transmission case 12. Is reached, a signal to stop the further lowering operation of the plow device 8 is output to the control device 16. The lifting operation device 22 shown in FIGS. 2 and 4 is constituted by a variable resistor whose electric resistance changes by rotating the dial 22a, and raises the plow device 8 in preference to the load detected by the load sensor 13. A signal to be caused to be output is output to the control device 16, and a signal to be caused to lower the plow device 8, which has been raised, to the original lowered position is output to the control device 16. That is, for example, when turning the body at the field end, the dial 22a is rotated to raise the plow device 8 from the lowering work position to the ascending non-working position, or to lower the plow device 8 from the ascending non-working position to the lowering work position. Things.
[0025]
[Another embodiment]
The present invention can be applied to connecting a subsoiler or the like for creating a culvert instead of the plow device 8. Therefore, the plow device 8, the subsoiler, and the like are collectively referred to as a work device for ground work.
[Brief description of the drawings]
FIG. 1 is a side view of an entire riding type cultivator. FIG. 2 is a block diagram of a work control device. FIG. 3 is a flowchart of a plow device lifting control. FIG. 4 is a block of a work control device having another embodiment. FIG. 5 is a flowchart of a plow device lifting / lowering control of a working control device having another embodiment.
8 Working Device 13 Load Sensor 14 Vehicle Speed Sensor 15 Load Setting Means 18 Target Load Adjusting Means 19 Work Depth Control Means 20 Detected Load Adjusting Means

Claims (2)

A load sensor for detecting a towing load of the ground-working work device movably connected to the self-propelled body, a load setting unit for setting a control target load, and a load detected by the load sensor set by the load setting unit. Work depth control means for lifting and lowering the work device so that the set control target load, the work control device of the tractor,
A vehicle speed sensor for detecting a vehicle speed, and a target load adjusting device that operates based on information from the vehicle speed sensor. When the vehicle speed detected by the vehicle speed sensor is higher than the set vehicle speed, the target load adjusting device sets the target load by the load setting device. A work control device for a tractor, wherein a control target load is adjusted to an increasing side, and the adjusted control target load is output to the work depth control means as a control load set by the load setting means. A load sensor for detecting a towing load of the ground-working work device movably connected to the self-propelled body, a load setting unit for setting a control target load, and a load detected by the load sensor set by the load setting unit. Work depth control means for lifting and lowering the work device so that the set control target load, the work control device of the tractor,
A vehicle speed sensor for detecting a vehicle speed; and a detection load adjusting unit that operates based on information from the vehicle speed sensor. When the vehicle speed detected by the vehicle speed sensor is higher than a set vehicle speed, the detection load adjusting unit detects the load detected by the load sensor. And a tractor operation control device configured to output the adjustment detection load to the operation depth control means as a load detected by the load sensor.

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